Underwater gravel foundation bed leveling device and leveling method thereof

Abstract

The invention provides an underwater gravel foundation bed leveling device and a leveling method thereof.The underwater gravel foundation bed leveling device comprises a ship body, a leveling device body is arranged at the bottom of the ship body, the leveling device body comprises an outer frame, outer supporting leg oil cylinders are arranged at the four corners of the outer frame, a sliding leveling mechanism is arranged on the outer frame, and inner supporting leg oil cylinders are arranged at the four corners of the leveling mechanism; an elevation adjusting oil cylinder is arranged at the top of the leveling mechanism. The leveling device is automatically adjusted to be in a horizontal state, then the height of the outer frame is measured, the leveling head is automatically adjusted to the needed height according to the set leveling thickness, the thrust oil cylinder is controlled to move, and leveling of the leveling head at one station of the frame of the support is achieved. Walking type advancing of the leveling robot is achieved through interactive supporting of the four outer supporting leg oil cylinders and the four inner supporting leg oil cylinders, automatic leveling of an underwater gravel outer frame and automatic leveling of the whole device can be achieved through fusion and coordination of multiple sensors, and the problems that a traditional mode is difficult to adapt to deep water and low in construction efficiency are solved.

Description

Technical Field

[0001] The invention relates to the field of underwater gravel leveling, in particular to an underwater gravel bed leveling device and a leveling method thereof. Background Art

[0002] Ground treatment is the foundation of the entire immersed tube tunnel project and one of the most important and complex processes in the construction of immersed tube tunnels. Currently, the commonly used methods for ground treatment of immersed tube tunnels include two categories: pre-laying method and post-filling method. The pre-laying method can be divided into two types: scraping method and pile foundation method. The post-filling method is to first sink the pipe section and support it on a temporary pad of reinforced concrete, and then fill the foundation between the bottom of the pipe section and the foundation, mainly including: sand flow method, sandblasting method, bag filling method and injection method. The technical equipment for the construction of the outer frame of the tunnel in the pre-laying method is mainly concentrated in two categories. One type uses a self-elevating platform as a carrier, and the laying and leveling equipment is installed on the platform deck or suspended underwater; the other type is the riprap leveling frame technology, which places a large steel frame with laying and leveling equipment on the seabed as a carrier.

[0003] Although the above two types of technologies have been widely used, they still face the following problems: 1) The operating water depth is limited and cannot meet the construction requirements of 50 to 100m. The economic operating water depth of the deepest self-elevating leveling platform is usually about 50m. 2) The degree of automation is not high and the application of automation is insufficient. Among the existing technologies, the construction process of the gravel pile outer frame leveling is highly dependent on manual operation, which is mainly manifested in the following aspects: ① The positioning of the platform or barge is entirely dependent on manual operation; ② The precision control is highly dependent on underwater divers; ③ The laying process is backward, the degree of automation is low, and the construction control automation is insufficient. For this reason, we propose an underwater gravel bed leveling device and a leveling method to solve the above problems. Summary of the invention

[0004] The technical problem to be solved by the present invention is to solve the problems that the degree of automation of the self-elevating leveling platform is not high; the positioning of the platform or barge in the external frame leveling is entirely dependent on manual operation; the precision control is highly dependent on underwater divers; the laying process is backward, the degree of automation is low, and the construction control automation is insufficient.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an underwater gravel base bed leveling device and a leveling method thereof, comprising a hull, a leveling device is provided at the bottom of the hull, the leveling device comprises an outer frame, four corners of the outer frame are provided with outer leg cylinders, a sliding leveling mechanism is provided on the outer frame, four corners of the leveling mechanism are provided with inner leg cylinders, and the top of the leveling mechanism is provided with an elevation adjustment cylinder.

[0006] In the preferred embodiment, the outer frame includes longitudinal beams at both ends and transverse beams at both ends, and the outer leg oil cylinders at the four corners are respectively the first outer leg oil cylinder, the second outer leg oil cylinder, the third outer leg oil cylinder and the fourth outer leg oil cylinder; The outer frame is a double-layer rectangular structure, with two horizontal beams and two longitudinal beams, each with a guide rail, and a travel switch at one end of the guide rail; The first outer leg oil cylinder is provided with a displacement sensor and a pressure sensor, and the four outer leg oil cylinders have the same structure.

[0007] In the preferred embodiment, the leveling mechanism includes a bracket, rollers are provided at the top and bottom of both sides of the bracket, the rollers are against the guide rails, a leveling head is provided at the bottom of the elevation adjustment cylinder, a scraper is provided on one side of the leveling head, an elevation adjustment cylinder is provided at the top of the bracket, a dual-axis inclination sensor is provided on the bracket, and a measuring cylinder is provided at one end of the bracket; A motor is arranged on one side of the leveling head, and an elevation displacement sensor and an elevation pressure sensor are arranged on the elevation adjustment cylinder.

[0008] In the preferred embodiment, the four inner leg cylinders include a first inner leg cylinder, a second inner leg cylinder, a third inner leg cylinder and a fourth inner leg cylinder, and the structure of the four inner leg cylinders is the same as that of the first outer leg cylinder.

[0009] In the preferred embodiment, a propulsion cylinder is provided between the leveling mechanism and the leveling device, and both ends of the propulsion cylinder are rotatably connected to the leveling mechanism and the leveling device respectively, and the outer frame is connected to the hull through a riprap pipe.

[0010] A leveling method for an underwater gravel bed leveling device, the method comprising: S1, throwing stones into a riprap pipe; S2, four outer leg cylinders landed underwater; S3, tilt angle adjustment modeling: calculate the movement distance of the outer leg cylinder; S4, asynchronous adjustment of oil cylinders: drive the four outer leg oil cylinders to adjust the leveling mechanism and scraper to the required posture; S5, elevation adjustment modeling: calculate the elevation adjustment distance S, drive the elevation adjustment cylinder to make the scraper reach the theoretical target elevation; S6, drive the oil cylinder to extend and retract until the target elevation is reached; S7, drive the leveling mechanism and the propulsion cylinder to level, and complete the stage leveling; S8, lower the four outer outrigger oil cylinders, raise the four inner outrigger oil cylinders, level the four inner outrigger oil cylinders, drive the propulsion cylinders to move the leveling device on the bottom of the water, and after moving into position, lower the four inner outrigger oil cylinders, raise the four outer outrigger oil cylinders, repeat S1 to S6, and level the base bed again; S9. Repeat S1 to S8 to move the leveling device on the bottom of the water to level all the target positions on the bottom of the water.

[0011] In the preferred solution, in S2, the step of calculating the elevation adjustment distance S is: A1: After the tilt adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained through GPS or ultra-short baseline measurement; A2: The height adjustment distance S is: H-Lsin(α1)sin(β1)-h; L is the distance between the top of the leveling frame and the bottom of the scraper by the height adjustment cylinder, and h is the target height.

[0012] In the preferred solution, the step of calculating the movement distance of the outer leg cylinder in S4 is: B1: The current scraper heel angle needs to be changed by α1-α, and the pitch angle needs to be changed by β1. The coordinate system and inclination angle transformation formula is: = ; B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is: ; B3: The four coordinates of the scraper (4021) in the current position of the oil cylinder are: A1=(-a / 2,-b / 2,0);B1=(a / 2,-b / 2,0);C1=(a / 2,b / 2,0);D1=(-a / 2,b / 2,0); B4: The movement distance of the four outer leg cylinders is: ; In the above formula, i=A, B, C, D; e i is the movement distance of the outer leg cylinder, and α is the inclination angle of the base bed.

[0013] In the preferred solution, the asynchronous adjustment method of the oil cylinder in S4 is the inclination error adjustment method, and the steps of the inclination error adjustment method are: C1: The first outer leg cylinder does not move, first detect the scraper inclination angles α1 and β1, and compare |α1-α| and |β1|; C2: When |α1-α|>|β1|, first adjust the scraper's inclination, and then adjust the second and third outer leg cylinders to extend and retract synchronously until the scraper's inclination α1=α; detect the scraper's longitudinal inclination β1, and then adjust the third and fourth outer leg cylinders to extend and retract synchronously until the scraper's longitudinal inclination β1=0; C3: When |α1-α|<|β1|, first adjust the longitudinal inclination of the scraper, and synchronously adjust the extension and retraction of the third and fourth outer leg cylinders until the longitudinal inclination β1 of the scraper is 0; when the scraper is detected to be inclination α1, synchronously adjust the extension and retraction of the second and third outer leg cylinders until the scraper is inclination α1=α.

[0014] In the preferred solution, the asynchronous adjustment method of the cylinder in S4 is a target chasing adjustment method, and the steps of the target chasing adjustment method are: according to the inclination angles φ and τ of the riprap tube and the elevation of the GPS on the riprap tube, the length of each cylinder on the leveling mechanism when the theoretical elevation of each ridge is reached is calculated, and then the calculated length of each cylinder is compared with the current length of the cylinder, and finally each cylinder is controlled to extend and retract until the calculated length value is reached.

[0015] The present invention provides an underwater gravel bed leveling device and a leveling method thereof. According to the dual-axis inclination sensor on the leveling mechanism, the leveling device is automatically adjusted to a horizontal state based on an adjustment method. Then, the outer frame height is measured by a measuring cylinder, and the elevation cylinder movement is automatically adjusted according to the set leveling thickness, so that the leveling head is adjusted to the required height. Then, the propulsion cylinder movement is controlled to achieve the leveling of the leveling head at a station of the frame of the bracket. Finally, the four outer leg cylinders and the four inner leg cylinders are interactively supported to achieve the walking forward of the leveling robot, so that the robot reaches the next station. The overall device utilizes the fusion and coordination of multiple sensors to achieve the automatic leveling of the outer frame of underwater gravel. The overall device can meet the water depth requirements and descend to a relatively deep bottom of the water. The positioning of the platform or the hull is automated and does not need to rely on manual operation. The overall device is automatically leveled, and the precision control does not need to rely on divers, which saves time and effort, saves a lot of labor, overcomes the problem that traditional methods are difficult to adapt to deep water and have low construction efficiency, and is suitable for promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a front view of the leveling structure of the present invention; Figure 2 It is an axonometric view of the leveling device of the present invention; Figure 3 It is an axonometric view of the leveling device of the present invention; Figure 4 For the present invention Figure 2 A magnified view of center A; Figure 5 A top view of the leveling device of the present invention; Figure 6 It is an axial side view of the leveling mechanism of the present invention; Figure 7 It is a side view of the leveling mechanism of the present invention; Figure 8 This is a diagram showing the front tilt angle adjustment of the leveling mechanism of the present invention; Fig. 9 The scraper coordinate system after elevation adjustment of the present invention; Fig.10 This is the control flow chart of tilt angle adjustment; In the figure: hull 1; leveling device 2; outer frame 3; longitudinal beam 301; cross beam 302; guide rail 303; travel switch 304; leveling mechanism 4; bracket 401; leveling head 402; scraper 4021; motor 403; elevation adjustment cylinder 404; elevation displacement sensor 4041; elevation pressure sensor 4042; roller 405; dual-axis tilt sensor 406; first outer leg cylinder 5; displacement sensor 501; pressure sensor 502; second outer leg cylinder 6; third outer leg cylinder 7; fourth outer leg cylinder 8; first inner leg cylinder 9; second inner leg cylinder 10; third inner leg cylinder 11; fourth inner leg cylinder 12; propulsion cylinder 13; measuring cylinder 14; riprap pipe 15. DETAILED DESCRIPTION

[0017] Embodiment 1: like Figures 1 to 10 In the invention, an underwater gravel bed leveling device comprises a hull 1, a leveling device 2 is arranged at the bottom of the hull 1, the leveling device 2 comprises an outer frame 3, four corners of the outer frame 3 are provided with outer leg oil cylinders, a sliding leveling mechanism 4 is arranged on the outer frame 3, four corners of the leveling mechanism 4 are provided with inner leg oil cylinders, and a height adjustment oil cylinder 404 is arranged on the top of the leveling mechanism 4. According to this mechanism, the leveling device 2 is automatically adjusted to a horizontal state based on the adjustment method according to the dual-axis tilt sensor 406 on the leveling mechanism 4, and then the height of the outer frame 3 is measured by the measuring oil cylinder 14, and the movement of the height oil cylinder is automatically adjusted according to the set leveling thickness, so that the leveling head is adjusted to the required height, and then the propulsion oil cylinder 13 is controlled to move to realize the leveling of the leveling head 402 at one station of the frame of the bracket 401, and finally, the walking forward of the leveling robot is realized through the interactive support of the four outer leg oil cylinders and the four inner leg oil cylinders, so that the robot reaches the next station. The overall device utilizes the fusion and coordination of multiple sensors to achieve automatic leveling of the underwater gravel outer frame. The overall device can meet the water depth requirements and descend to a relatively deep bottom of the water. The positioning of the platform or hull 1 is automated and does not require manual operation. The overall device is automatically leveled and precision control does not require reliance on divers, saving time and effort, and a large amount of manpower, overcoming the problem that traditional methods are difficult to adapt to deep water and have low construction efficiency.

[0018] In the preferred embodiment, the outer frame 3 includes longitudinal beams 301 at both ends and transverse beams 302 at both ends, and the outer leg cylinders at the four corners are respectively the first outer leg cylinder 5, the second outer leg cylinder 6, the third outer leg cylinder 7 and the fourth outer leg cylinder 8; The outer frame 3 is a double-layer rectangular structure, with two cross beams 302 and two longitudinal beams 301, each of which is provided with a guide rail 303, and a travel switch 304 at one end of the guide rail 303; The first outer leg oil cylinder 5 is provided with a displacement sensor 501 and a pressure sensor 502, and the four outer leg oil cylinders have the same structure. With this structure, the outer frame 3 includes a double-layer frame structure, and the four outer leg oil cylinders are hingedly connected to the outer frame 3. The displacement sensor 501 is used to detect the displacement of the first outer leg oil cylinder 5, and the pressure sensor 502 is used to detect the pressure of the first outer leg oil cylinder 5. When the pressure sensors on the four outer leg oil cylinders detect that the load pressure of each outer leg oil cylinder reaches the set P1 value, it is considered that the outer leg oil cylinder has contacted the ground of the outer frame 3 at this time, and the outer leg oil cylinder stops moving.

[0019] The four outer outrigger oil cylinders have the same structure, and each outer outrigger oil cylinder and inner outrigger oil cylinder is provided with a displacement sensor and a pressure sensor.

[0020] In the preferred embodiment, the leveling mechanism 4 includes a bracket 401, rollers 405 are provided at the top and bottom of both sides of the bracket 401, the rollers 405 are against the guide rails 303, a leveling head 402 is provided at the bottom of the elevation adjustment cylinder 404, a scraper is provided on one side of the leveling head 402, an elevation adjustment cylinder 404 is provided at the top of the bracket 401, a dual-axis inclination sensor 406 is provided on the bracket 401, and a measuring cylinder 14 is provided at one end of the bracket 401; A motor 403 is provided on one side of the leveling head 402, and an elevation displacement sensor 4041 and an elevation pressure sensor 4042 are provided on the elevation adjustment cylinder 404. With this structure, the roller 405 slides against the guide rail 303, a spiral blade is provided at the output end of the motor 403, and a dual-axis inclination sensor 406 is used to detect the inclination angle of the leveling head 402. The elevation adjustment cylinder 404 on the bracket 401 is used to adjust the height of the leveling head 402, and the leveling mechanism 4 is used to level the entire device.

[0021] In the preferred embodiment, the four inner leg oil cylinders include a first inner leg oil cylinder (9), a second inner leg oil cylinder (10), a third inner leg oil cylinder 11 and a fourth inner leg oil cylinder 12, and the structure of the four inner leg oil cylinders is the same as that of the first outer leg oil cylinder 5. With this structure, the four inner leg oil cylinders have the same structure, and each inner leg oil cylinder is provided with a displacement sensor and a pressure sensor.

[0022] In the preferred embodiment, a propulsion cylinder 13 is provided between the leveling mechanism 4 and the leveling device 2, and the two ends of the propulsion cylinder 13 are rotatably connected to the leveling mechanism 4 and the leveling device 2 respectively, and the outer frame 3 is connected to the hull 1 through the riprap pipe 15. With this structure, the leveling mechanism 4 and the propulsion cylinder 13 are driven to level, and the stage leveling is completed; the leveling mechanism 4 is driven by the propulsion cylinder 13 to move from one side close to the outer frame 3 to the other side of the outer frame 3, and the leveling of one position of the overall structure is completed. When the leveling mechanism 4 is transported to the end of the outer frame 3, the travel switch 304 will be triggered, and according to the signal of the travel switch 304, the propulsion cylinder 13 stops moving, and the displacement of the propulsion cylinder 13 during the movement is detected by the elevation displacement sensor 4041 installed on the propulsion cylinder 13.

[0023] Embodiment 2: Further description in conjunction with Example 1: An underwater gravel bed leveling device and a leveling method thereof include the following steps: S1, throwing stones into a riprap pipe 15; S2, four outer leg cylinders landed underwater; S3, tilt angle adjustment modeling: calculate the movement distance of the outer leg cylinder; S4, asynchronous adjustment of oil cylinders: drive the four outer leg oil cylinders to adjust the leveling mechanism and the scraper 4021 to the required posture; S5, elevation adjustment modeling: calculate the elevation adjustment distance S, and drive the elevation adjustment cylinder 404 to make the scraper reach the theoretical target elevation; S6, drive the oil cylinder to extend and retract until the target elevation is reached; Under the push of the propulsion cylinder 13, the leveling mechanism 4 moves from one side close to the outer frame 3 to the other side of the outer frame 3 to complete the leveling of one position of the overall structure. When the leveling mechanism 4 is transported to the end of the outer frame 3, the travel switch 304 will be triggered. According to the signal of the travel switch 304, the propulsion cylinder 13 stops moving. The displacement of the propulsion cylinder 13 during the movement is detected by the elevation displacement sensor 4041 installed on the propulsion cylinder 13.

[0024] S7, drive the leveling mechanism 4 and the propulsion cylinder 13 to level, and complete the stage leveling; S8, lower the four outer leg oil cylinders, raise the four inner leg oil cylinders, level the four inner leg oil cylinders, drive the propulsion cylinder 13 to move the leveling device 2 on the bottom of the water, and after moving into position, lower the four inner leg oil cylinders, raise the four outer leg oil cylinders, repeat S1 to S6, and level the bed again; S9. Repeat S1 to S8 to move the leveling device 2 on the bottom of the water to level all the target positions on the bottom of the water.

[0025] In the preferred solution, in S2, the step of calculating the elevation adjustment distance S is: A1: After the tilt adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained through GPS or ultra-short baseline measurement; A2: The height adjustment distance S is: H-Lsin(α1)sin(β1)-h; L is the distance between the top of the leveling frame and the bottom of the scraper by the height adjustment cylinder, and h is the target height.

[0026] In the preferred solution, the step of calculating the movement distance of the outer leg cylinder in S4 is: B1: The current scraper heel angle needs to be changed by α1-α, and the pitch angle needs to be changed by β1. The coordinate system and inclination angle transformation formula is: = ; B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is: ; B3: The four-point coordinates of the oil cylinder of the scraper 4021 at the current position are: A1=(-a / 2,-b / 2,0);B1=(a / 2,-b / 2,0);C1=(a / 2,b / 2,0);D1=(-a / 2,b / 2,0); The coordinates of each cylinder connection point in the target coordinate system can be obtained, which are: ; ; ; ; 、 , and They are the coordinates of the connection points of the four outer outrigger cylinders; B4: The movement distance of the four outer leg cylinders is: ; In the above formula, i=A, B, C, D; e i is the movement distance of the outer leg cylinder, and α is the inclination angle of the base bed.

[0027] In the preferred solution, the asynchronous adjustment method of the oil cylinder in S4 is the inclination error adjustment method, and the steps of the inclination error adjustment method are: The first outer leg oil cylinder 5 does not move, first detects the inclination angles α1 and β1 of the current scraper, and compares |α1-α| and |β1|; When |α1-α|>|β1|, first adjust the scraper's inclination. If it is detected that the current inclination angle satisfies α1-α>0, adjust the second outer leg cylinder 6 and the third outer leg cylinder 7 to extend synchronously until the scraper's inclination α1=α; if it is detected that the current inclination angle satisfies α1-α<0, adjust the second outer leg cylinder 6 and the third outer leg cylinder 7 to retract synchronously until the scraper's inclination α1=α. When the inclination adjustment is completed, detect the current scraper's longitudinal inclination β1 again. If β1>0, adjust the third outer leg cylinder 7 and the fourth outer leg cylinder 8 to extend synchronously until the scraper's longitudinal inclination β1=0; if β1<0, adjust the third outer leg cylinder 7 and the fourth outer leg cylinder 8 to retract synchronously until the scraper's longitudinal inclination β1=0. After the inclination adjustment is completed, finally adjust the elevation; When |α1-α|<|β1|, first adjust the longitudinal inclination of the scraper. If it is detected that the current inclination angle satisfies β1>0, adjust the third outer leg cylinder 7 and the fourth outer leg cylinder 8 to extend synchronously until the longitudinal inclination β1 of the scraper is 0; if β1<0, adjust the third outer leg cylinder 7 and the fourth outer leg cylinder 8 to retract synchronously until the longitudinal inclination β1 of the scraper is 0. After the inclination adjustment is completed, adjust the elevation. When the longitudinal inclination adjustment is completed, detect the current scraper transverse inclination α1. If it satisfies α1-α>0, adjust the second outer leg cylinder 6 and the third outer leg cylinder 7 to extend synchronously until the scraper transverse inclination α1=α; if it is detected that the current inclination angle satisfies α1-α<0, adjust the second outer leg cylinder 6 and the third outer leg cylinder 7 to retract synchronously until the scraper transverse inclination α1=α; Embodiment 3: Further explanation in combination with Examples 1 and 2: An underwater gravel bed leveling device and a leveling method thereof, comprising the following steps: The asynchronous adjustment mode of the cylinder in S4 is a target chasing adjustment method, and the steps of the target chasing adjustment method are: according to the inclination angles φ and τ of the riprap tube 15 and the elevation of the GPS on the riprap tube 15, the length of each cylinder on the leveling mechanism 4 when the theoretical elevation of each ridge is reached is calculated, and then the calculated length of each cylinder is compared with the current length of the cylinder, and finally each cylinder is controlled to extend and retract until the calculated length value is reached.

[0028] According to the test results, the tilt angle of the leveled ship is relatively small, which is sin(α1-α)= α1-α, sinβ1=β1, sin(α1-α)sinβ1=0, cos(α1-α)=cosβ1=1, so the coordinate transformation matrix can be simplified as: ; Furthermore, when the inclination angle can be adjusted, the movement distance of each cylinder hinge point is obtained as: ; Where (i=A, B, C, D); Considering the height adjustment, the distance that each cylinder needs to move is: ; ; ; ; The above-mentioned embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The embodiments and features in the embodiments of the present application can be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An underwater gravel bed leveling device, characterized by: The invention comprises a hull (1), a leveling device (2) being provided at the bottom of the hull (1), the leveling device (2) comprising an outer frame (3), four corners of the outer frame (3) being provided with outer leg oil cylinders, a sliding leveling mechanism (4) being provided on the outer frame (3), four corners of the leveling mechanism (4) being provided with inner leg oil cylinders, and a height adjustment oil cylinder (404) being provided at the top of the leveling mechanism (4).

2. The underwater gravel bed leveling device according to claim 1 is characterized by: The outer frame (3) comprises longitudinal beams (301) at two ends and transverse beams (302) at two ends, and the outer leg oil cylinders at four corners are respectively a first outer leg oil cylinder (5), a second outer leg oil cylinder (6), a third outer leg oil cylinder (7) and a fourth outer leg oil cylinder (8); The outer frame (3) is a double-layer rectangular structure, and the cross beam (302) and the longitudinal beam (301) are both upper and lower. The two longitudinal beams (301) are both provided with a guide rail (303), and one end of the guide rail (303) is provided with a travel switch (304); The first outer leg oil cylinder (5) is provided with a displacement sensor (501) and a pressure sensor (502), and the four outer leg oil cylinders have the same structure.

3. The underwater gravel bed leveling device according to claim 1 is characterized by: The leveling mechanism (4) comprises a bracket (401), rollers (405) are provided at the top and bottom of both sides of the bracket (401), the rollers (405) are against the guide rails (303), a leveling head (402) is provided at the bottom of the elevation adjustment cylinder (404), a scraper is provided on one side of the leveling head (402), a height adjustment cylinder (404) is provided at the top of the bracket (401), a dual-axis inclination sensor (406) is provided on the bracket (401), and a measuring cylinder (14) is provided at one end of the bracket (401); A motor (403) is provided on one side of the leveling head (402), and an elevation displacement sensor (4041) and an elevation pressure sensor (4042) are provided on the elevation adjustment cylinder (404).

4. The underwater gravel bed leveling device according to claim 1 is characterized by: The four inner leg oil cylinders include a first inner leg oil cylinder (9), a second inner leg oil cylinder (10), a third inner leg oil cylinder (11) and a fourth inner leg oil cylinder (12), and the structure of the four inner leg oil cylinders is the same as that of the first outer leg oil cylinder (5).

5. The underwater gravel bed leveling device according to claim 1 is characterized by: A propulsion cylinder (13) is provided between the leveling mechanism (4) and the leveling device (2), and both ends of the propulsion cylinder (13) are rotatably connected to the leveling mechanism (4) and the leveling device (2), respectively. The outer frame (3) is connected to the hull (1) via a riprap pipe (15).

6. A leveling method for an underwater gravel bed leveling device according to any one of claims 1 to 5, wherein the method comprises: S1, throwing stones into a riprap pipe (15); S2, four outer leg cylinders land underwater; S3, tilt angle adjustment modeling: calculate the movement distance of the outer leg cylinder; S4, asynchronous adjustment of oil cylinders: driving the four outer leg oil cylinders to adjust the leveling mechanism and the scraper (4021) to the required posture; S5, elevation adjustment modeling: Calculate the elevation adjustment distance S, and drive the elevation adjustment cylinder (404) to make the scraper reach the theoretical target elevation; S6, drive the oil cylinder to extend and retract until the target elevation is reached; S7, driving the leveling mechanism (4) and the propulsion cylinder (13) to level, completing the stage leveling; S8, lowering the four outer leg oil cylinders, raising the four inner leg oil cylinders, leveling the four inner leg oil cylinders, driving the propulsion cylinder (13) to move the leveling device (2) on the bottom of the water, and after moving to the right position, lowering the four inner leg oil cylinders, raising the four outer leg oil cylinders, repeating S1 to S6, and leveling the base bed again; S9. Repeat S1 to S8 to move the leveling device (2) on the bottom of the water to level all the target positions on the bottom of the water.

7. The leveling method of the underwater gravel bed leveling device according to claim 6, wherein the step of calculating the elevation adjustment distance S in S2 is: A1: After the tilt adjustment is completed, the elevation H of the elevation adjustment cylinder at the top of the leveling frame is obtained through GPS or ultra-short baseline measurement; A2: The height adjustment distance S is: H-Lsin(α1)sin(β1)-h; L is the distance between the top of the leveling frame and the bottom of the scraper by the height adjustment cylinder, and h is the target height.

8. The leveling method of the underwater gravel bed leveling device according to claim 6, wherein the step of calculating the movement distance of the outer leg cylinder in S4 is: B1: The current scraper heel angle needs to be changed by α1-α, and the pitch angle needs to be changed by β1. The coordinate system and inclination angle transformation formula is: = ； B2: The transformation matrix T between the scraper (4021) coordinate system and the target coordinate system is: ； B3: The four coordinates of the scraper (4021) in the current position of the oil cylinder are: A1=(-a / 2,-b / 2,0);B1=(a / 2,-b / 2,0);C1=(a / 2,b / 2,0);D1=(-a / 2,b / 2,0); B4: The movement distance of the four outer leg cylinders is: ； In the above formula, i=A, B, C, D; e i is the movement distance of the outer leg cylinder, and α is the inclination angle of the base bed.

9. The leveling method of the underwater gravel bed leveling device according to claim 6, wherein the asynchronous adjustment method of the oil cylinder in S4 is an inclination error adjustment method, and the inclination error adjustment method steps are: C1: The first outer leg oil cylinder (5) is stationary, and the inclination angles α1 and β1 of the scraper (4021) are first detected, and |α1-α| and |β1| are compared; C2: When |α1-α|>|β1|, first adjust the inclination of the scraper (4021), and synchronously adjust the extension and retraction of the second outer leg oil cylinder (6) and the third outer leg oil cylinder (7) until the inclination α1 of the scraper is equal to α; detect the longitudinal inclination β1 of the scraper (4021), and synchronously adjust the extension and retraction of the third outer leg oil cylinder (7) and the fourth outer leg oil cylinder (8) until the longitudinal inclination β1 of the scraper (4021) is equal to 0; C3: When |α1-α|<|β1|, first adjust the longitudinal inclination of the scraper (4021), and synchronously adjust the extension and retraction of the third outer leg oil cylinder (7) and the fourth outer leg oil cylinder (8) until the longitudinal inclination β1 of the scraper (4021) is 0; when the lateral inclination α1 of the scraper (4021) is detected, synchronously adjust the extension and retraction of the second outer leg oil cylinder (6) and the third outer leg oil cylinder (7) until the lateral inclination α1 of the scraper (4021) is α.

10. A leveling method for an underwater gravel bed leveling device according to claim 6, wherein the asynchronous adjustment mode of the oil cylinder in S4 is a target chasing adjustment method, and the target chasing adjustment method comprises the following steps: according to the inclination angles φ and τ of the riprap tube (15) and the elevation of the GPS on the riprap tube (15), the length of each oil cylinder on the leveling mechanism (4) when the theoretical elevation of each ridge is reached is calculated, and then the calculated length of each oil cylinder is compared with the current length of the oil cylinder, and finally each oil cylinder is controlled to extend and retract until the calculated length value is reached.

Images